FISNAR I&J7000 Series Manuale utente

I&J7000 Series Operating Manual

Part # 561978B

Rev. H May 04

- Page 1 -

I&J7000 SERIES

OPERATING MANUAL

I&J7000 Series Operating Manual

Part # 561978B

Rev. H May 04

- Page 2 -

CONTENTS:

SECTION 1: INTRODUCTION ...............................................................................................5

1. SAFETY PRECAUTIONS........................................................................................................6

2. PACKAGE CONTENTS ..........................................................................................................7

3. CONNECTOR AND SWITCH LOCATIONS................................................................................8

3.1. I&J7200 –Front View.........................................................................................................................8

3.2. I&J7200 –Rear View..........................................................................................................................8

3.3. I&J7300 / I&J7400 - Front View.......................................................................................................9

3.4. I&J7300 / I&J7400 - Rear View ........................................................................................................9

3.5. Control Panel......................................................................................................................................10

SECTION 2: SETUP ..................................................................................................................11

1. UNPACK THE ROBOT...........................................................................................................12

2. REMOVE SHIPPING BRACKET..............................................................................................12

3. SETUP .................................................................................................................................13

SECTION 3: TEACHING OVERVIEW..................................................................................15

1. TEACHING OVERVIEW.........................................................................................................16

2. USING THE TEACH PENDANT ..............................................................................................18

2.1. Key Selection.......................................................................................................................................18

2.2. Key Assignments..................................................................................................................................19

2.3. Menu Navigation.................................................................................................................................20

2.4. Jogging................................................................................................................................................20

2.5. Data Entry...........................................................................................................................................20

2.6. Running a Program.............................................................................................................................20

3. TEACH BOX KEYASSIGNMENTS .........................................................................................21

4. POINT TYPE &FUNCTION SUMMARY..................................................................................24

4.1. Point Menu..........................................................................................................................................24

4.2. Setup Menu..........................................................................................................................................26

4.3. Menu 1.................................................................................................................................................27

4.4. Utility Menu ........................................................................................................................................28

4.5. Menu 2.................................................................................................................................................29

SECTION 4: PROGRAMMING EXAMPLE..........................................................................30

1. PROGRAMMING EXAMPLE...................................................................................................31

2. EDITING A PROGRAM ..........................................................................................................34

2.1. Changing a Point XYZ location...........................................................................................................34

2.2. Insert / Delete an Instruction...............................................................................................................35

3. CHANGING THE PROGRAM NUMBER ...................................................................................35

4. CHANGING FROM TEACH MODE TO RUN MODE..................................................................35

SECTION 5: DISPENSING PARAMETERS..........................................................................36

1. DISPENSE END SETUP .........................................................................................................37

2. Z CLEARANCE.....................................................................................................................38

3. LINE DISPENSE SETUP.........................................................................................................39

4. RETRACT ............................................................................................................................40

5. ADJUST ORIGIN...................................................................................................................42

I&J7000 Series Operating Manual

Part # 561978B

Rev. H May 04

- Page 3 -

CONTENTS (CONT.):

SECTION 6: POINT TYPE & FUNCTION REFERENCE...................................................43

1. POINT MENU.......................................................................................................................44

1.1. Dispense Dot.......................................................................................................................................44

1.2. Line Start.............................................................................................................................................44

1.3. Line Passing........................................................................................................................................45

1.4. Circle...................................................................................................................................................45

1.5. Arc.......................................................................................................................................................45

1.6. Line End..............................................................................................................................................46

1.7. End Program.......................................................................................................................................46

1.8. Dispenser ON / OFF...........................................................................................................................46

1.9. Goto Address.......................................................................................................................................47

1.10. Step & Repeat X ..................................................................................................................................47

1.11. Step & Repeat Y ..................................................................................................................................51

1.12. Brush Area ..........................................................................................................................................52

1.13. Call Subroutine ...................................................................................................................................54

1.14. Call Program ......................................................................................................................................54

1.15. Call Job...............................................................................................................................................54

1.16. Set I/O .................................................................................................................................................54

1.17. Wait Point ...........................................................................................................................................55

1.18. Stop Point............................................................................................................................................55

1.19. Home Point..........................................................................................................................................55

1.20. Loop Address.......................................................................................................................................55

1.21. Dummy ................................................................................................................................................55

1.22. Initialize ..............................................................................................................................................56

2. SETUP MENU ......................................................................................................................57

2.1. Line Speed...........................................................................................................................................57

2.2. Line Dispense Setup............................................................................................................................57

2.3. Point Dispense Setup...........................................................................................................................57

2.4. Dispense End Setup.............................................................................................................................57

2.5. Z Clearance.........................................................................................................................................58

2.6. X/Y Move Speed...................................................................................................................................58

2.7. Z Move Speed......................................................................................................................................58

2.8. Set Home Position...............................................................................................................................58

2.9. Retract.................................................................................................................................................59

3. MENU 1...............................................................................................................................60

3.1. Group Edit...........................................................................................................................................60

3.1.1. Copy...............................................................................................................................................60

3.1.2. Delete .............................................................................................................................................61

3.1.3. Move...............................................................................................................................................62

3.1.4. Line SP (Line Speed)......................................................................................................................63

3.1.5. Dispen.TM (Dispense Time)..........................................................................................................64

3.1.6. Offset..............................................................................................................................................65

3.2. Expand Step & Repeat.........................................................................................................................66

3.3. Program Name....................................................................................................................................67

3.4. Z Axis Limit .........................................................................................................................................67

3.5. Initial Output Status............................................................................................................................68

3.6. Debug Speed........................................................................................................................................68

3.7. Jog Speed ............................................................................................................................................68

3.8. Utility Menu ........................................................................................................................................69

3.9. Run Mode............................................................................................................................................69

3.10. Vision ..................................................................................................................................................69

3.11. Resume ................................................................................................................................................69

4. UTILITY MENU ...................................................................................................................70

4.1. Program ..............................................................................................................................................70

4.2. Memory ...............................................................................................................................................70

4.3. Teach Pendant.....................................................................................................................................70

4.4. Relocate Data......................................................................................................................................71

4.5. Lock or Unlock Program.....................................................................................................................72

4.6. Password.............................................................................................................................................72

4.7. Cycle Counter......................................................................................................................................73

I&J7000 Series Operating Manual

Part # 561978B

Rev. H May 04

- Page 4 -

CONTENTS (CONT.):

5. MENU 2...............................................................................................................................74

5.1. Numerical Move..................................................................................................................................74

5.2. Save Temp Point..................................................................................................................................74

5.3. Retrieve Temp Point............................................................................................................................74

5.4. Undo Program ....................................................................................................................................74

5.5. Redo Program.....................................................................................................................................74

5.6. Debug Program...................................................................................................................................74

SECTION 7: SPECIFICATIONS .............................................................................................75

1. ERROR MESSAGES ..............................................................................................................76

1.1. Points Closed Error ............................................................................................................................76

1.2. Need Line Start Point..........................................................................................................................76

1.3. Need Step & Repeat.............................................................................................................................76

1.4. Unlock Program..................................................................................................................................76

1.5. Address Over Memory.........................................................................................................................77

1.6. Move Over Memory.............................................................................................................................77

1.7. System Error........................................................................................................................................77

2. I/O SPECIFICATIONS............................................................................................................78

2.1. Ext. Control Connector:......................................................................................................................78

2.2. Output Signals.....................................................................................................................................79

2.3. Input Signals........................................................................................................................................80

2.4. Input / Output Schematic.....................................................................................................................81

2.5. Input / Output Power Specifications ...................................................................................................82

3. SYSTEM SPECIFICATIONS ....................................................................................................83

4. MACHINE DIMENSIONS.......................................................................................................84

4.1. I&J7200A Dimensions ........................................................................................................................84

4.2. I&J7300B Dimensions ........................................................................................................................85

4.3. I&J7400B Dimensions ........................................................................................................................86

5. WORK TABLE DIMENSIONS.................................................................................................87

5.1. I&J7200A............................................................................................................................................87

5.2. I&J7300B & I&J7400B ......................................................................................................................87

SECTION 8: SCHEMATIC AND PARTS LIST.....................................................................88

1. MECHANICAL PARTS LIST –I&J7200A..............................................................................89

1.1. I&J7200A - Cover Drawing................................................................................................................89

1.2. I&J7200A Cover Parts List.................................................................................................................89

1.3. I&J7200A - X/Y Base Drawing ...........................................................................................................90

1.4. I&J7200A - X/Y Base Parts List..........................................................................................................91

1.5. I&J7200A - Z Axis Drawing................................................................................................................92

1.6. I&J7200A - Z Axis Parts List..............................................................................................................93

2. MECHANICAL PARTS LIST –I&J7300B..............................................................................94

2.1. I&J7300B –Cover Drawing ...............................................................................................................94

2.2. I&J7300B –Cover Parts List..............................................................................................................94

2.3. I&J7300B –X/Y Base Drawing...........................................................................................................95

2.4. I&J7300B –X/Y Base Parts List.........................................................................................................96

2.5. I&J7300B –Z Axis Drawing...............................................................................................................97

2.6. I&J7300B –Z Axis Parts List .............................................................................................................98

3. MECHANICAL PARTS LIST –I&J7400B..............................................................................99

3.1. I&J7400B - Cover Drawing................................................................................................................99

3.2. I&J7400B - Cover Parts List ..............................................................................................................99

3.3. I&J7400B - X/Y Base Drawing ...........................................................................................................100

3.4. I&J7400B - X/Y Base Parts List..........................................................................................................101

3.5. I&J7400B - Z Axis Drawing................................................................................................................102

3.6. I&J7400B - Z Axis Parts List..............................................................................................................103

4. ELECTRICAL PARTS LIST .....................................................................................................104

4.1. I&J7200A Electrical Diagram #1.......................................................................................................104

4.5. I&J7300B Electrical Drawing #1 .......................................................................................................109

4.9. I&J7400B Electrical Diagram #1.......................................................................................................117

I&J7000 Series Operating Manual

Section 1: Introduction

Part # 561978B

Rev. H May 04

- Page 5 -

Section 1: Introduction

I&J7000 Series Operating Manual

Section 1: Introduction

Part # 561978B

Rev. H May 04

- Page 6 -

1. Safety Precautions

1.1In order to meet the requirements of the European Community (CE) safety

directives, the robot must be placed in an enclosure supplied by I&J Fisnar Inc.

The enclosure will prevent the operator from entering the robot work area and will

generate an emergency stop signal if the enclosure door switch is opened while the

robot is running.

1.2Make sure the robot and accessories are connected to a properly grounded power

source.

1.3Do not drop or spill foreign objects or material such as screws or liquid into the robot.

1.4Do not touch any moving parts while the unit is running.

1.5Loading and unloading of parts and material must be done when the robot is not

running.

1.6Changing of fixtures or tooling must be done with the power source disconnected.

1.7The I&J7000 robot only be operated in an environmental of 0 to 40 degrees centigrade

and humidity of 20 to 95 percent with no condensation.

1.8Do not store or install the robot in an area where it is exposed to direct sunlight.

1.9Do not operate the robot where electrical noise is present.

1.10 Only use a neutral detergent for cleaning. Do not use alcohol, benzene or thinner.

I&J7000 Series Operating Manual

Section 1: Introduction

Part # 561978B

Rev. H May 04

- Page 7 -

2. Package Contents

In addition to this operating manual, the following items should be included with the robot:

Main Unit

(I&J7200A, I&J7300B or I&J7400B)

Enclosure

(CE Units Only)

Dispenser Mounting Bracket

(I&J7300 and I&J7400 only)

Barrel Holder or Valve Holder

Teach Pendant

Teach Pendant Cable

Start / Stop Box

(optional)

Dispenser Cable

RS232 Cable and Null Modem Adapter

I/O Port Connector

Power Cord

Spare Screws and Hex Key

Your system may also include other optional accessories.

If any of the above items are missing, please contact the supplier.

I&J7000 Series Operating Manual

Section 1: Introduction

Part # 561978B

Rev. H May 04

- Page 8 -

3. Connector and Switch Locations

3.1. I&J7200 –Front View

3.2. I&J7200 –Rear View

I/O Port

RS232 Port

VGA Monitor Port

Keyboard

Teach Pendant

Dispenser Purge

CF Card

Power Switch

Control Panel

Power Inlet

Power Outlets

Dispenser Cable Connector

Ext. Control Connector

I&J7000 Series Operating Manual

Section 1: Introduction

Part # 561978B

Rev. H May 04

- Page 9 -

3.3. I&J7300 / I&J7400 - Front View

3.4. I&J7300 / I&J7400 - Rear View

I/O Port

RS232 Port

Keyboard

Teach Pendant

Dispenser Purge

CF Card

Power Switch

Control Panel

VGA Monitor Port

Power Inlet

Power Outlets

Dispenser Cable Connector

Ext. Control Connector

I&J7000 Series Operating Manual

Section 1: Introduction

Part # 561978B

Rev. H May 04

- Page 10 -

3.5. Control Panel

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